Given the 3D object model and multi-view images, the goal of 6D object pose estimation is to estimate the rigid transformation \(T_{wo} \in SE(3)\)  from the object model frame \({O}\)  to a global (world) frame \({W}\) . We assume that we know the camera poses \(T_{wc} \in SE(3)\)  with respect to the world frame. This can be done by robot forward kinematics and eye-in-hand calibration when the camera is mounted on the end-effector of a robotic arm [1]}, or off-the-shelf SLAM methods for a hand-held camera [2]}, [3]}.
